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<h1>tr2delta</h1><p><span class="helptopic">Convert homogeneous transform to differential motion</span></p><p>
<strong>d</strong> = <span style="color:red">tr2delta</span>(<strong>T0</strong>, <strong>T1</strong>) is the differential motion (6x1) corresponding to
infinitessimal motion (in the <strong>T0</strong> frame) from pose <strong>T0</strong> to <strong>T1</strong> which are homogeneous
transformations (4x4) or SE3 objects. <strong>d</strong>=(dx, dy, dz, dRx, dRy, dRz).

</p>
<p>
<strong>d</strong> = <span style="color:red">tr2delta</span>(<strong>T</strong>) as above but the motion is with respect to the world frame.

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<h2>Notes</h2>
<ul>
  <li>D is only an approximation to the motion T, and assumes
that T0 ~ T1 or T ~ eye(4,4).</li>
  <li>can be considered as an approximation to the effect of spatial velocity over a
a time interval, average spatial velocity multiplied by time.</li>
</ul>
<h2>Reference</h2>
<ul>
  <li>Robotics, Vision & Control 2nd Edition, p67</li>
</ul>
<h2>See also</h2>
<p>
<a href="delta2tr.html">delta2tr</a>, <a href="skew.html">skew</a></p>
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